Self-propelled measurement device for downhole data of oil well, and self-propelled measurement method

Abstract

Disclosed are a self-propelled measurement device for downhole data of an oil well, and a self-propelled measurement method. The device comprises a housing (1), a testing device, a sink and float control device, a hovering device and a power supply device, wherein the housing is provided with a propeller (2) for driving the housing to move forward or backward; the testing device and the sink and float control device are arranged on the housing, the sink and float control device is arranged on the housing or is a part of the housing, and the testing device is used to collect downhole data and position the self-propelled measurement device; the sink and float control device is used to adjust the sink and float height of the self-propelled measurement device; the hovering device is used to enable the self-propelled measurement device to hover at a preset position in a well; and the power supply device is used to supply electricity to the testing device, the sink and float control device and the hovering device.

Description

Self-propelled measurement device and self-propelled measurement method for downhole oil well data

[0001] Related applications

[0002] This application claims priority to the Chinese invention patent application with application number 202311801496.8 filed on December 26, 2023, and cites the entire contents disclosed in the above patent application as part of this application. Technical Field

[0003] The present application relates to the technical field of design and manufacturing of remote control logging technology equipment, and further to a self-propelled measurement device and a self-propelled measurement method for downhole data of oil wells, and in particular to a self-propelled measurement device and a self-propelled measurement method for collecting downhole vertical well section and horizontal well section drilling engineering parameter collection. Background Art

[0004] In practical oil and gas development, production profile logging data is the primary basis for obtaining information about wells under normal production conditions. The currently used logging instrument is a flow-collecting production profile logging tool. This tool uses a flow-collecting point measurement method, allowing the fluid in the well to flow through the instrument to measure parameters such as volume flow rate, water holdup, temperature, pressure, and magnetic positioning at different depths within the wellbore. This technology, also known as five-parameter production profile logging, primarily measures well temperature, flow rate, pressure, magnetic positioning, and water cut. This technology is used in oil-water two-phase wells. Five-parameter production profile logging can be used to shut off water in high-water-cut formations and tap the potential of low-yielding formations. It also has significant applications in engineering testing, diagnosing well production status, analyzing oilfield development results, and comprehensively adjusting development plans. The downhole drilling parameters obtained are brought to the surface for comprehensive interpretation to produce the well's production profile. The current technical means can accelerate the liquid flow and fully mix the oil and water due to the use of a flow collection method, thus overcoming the problems of low flow rate, large amount of rheology, difference in fluid viscosity, different water retention, and the influence of uneven mixing of oil and water on the response of the measurement sensor, and have the advantage of improving measurement accuracy. However, for a large number of horizontal wells, production logging is often required to find water due to insufficient production of fluid. The logging work usually consists of several main parameters, including but not limited to oil, gas and water flow rates, water content, temperature and pressure profiles, and production fluid profile logging is the most direct and accurate method of finding water in horizontal wells. At present, most of the logging interpretation models for horizontal wells are similar to those for vertical wells, and the logging instrument string with multiple sensors is only suitable for logging in the vertical well section. If an inclined well or horizontal well is encountered, it cannot be lowered to the specified well section, which requires the logging instrument string to be transported to the horizontal section for logging. The following methods of transporting instruments are currently mainly used for combined logging of horizontal wells:

[0005] 1. Coiled Tubing (CT) Transportation Technology: CT, also known as flexible tubing, is a long tubing string wound on a reel and then straightened and lowered directly into the wellbore. This logging technology primarily connects a string of logging instruments, including multiple measuring instruments, to the lower end of the CT string. This logging method offers unique advantages for logging horizontal sections or highly deviated wells. Specifically, CT testing allows for long-distance transport, in-situ evaluation of results, and smooth tripping and logging operations. However, its disadvantages include: CT is run from the surface to the well section to be tested, and all operations are controlled from the surface. During the CT running process, the CT may become stuck in structurally abnormal sections of the wellbore, potentially preventing further advancement, due to factors such as wellbore dimensions and wellbore structure (e.g., wellbore trajectory, wellbore doglegs, or deformation of packers or casing collars). Furthermore, dragging the CT on the surface can easily cause mechanical damage to the wellbore or casing. Furthermore, CT is heavy, cumbersome to transport, and expensive.

[0006] 2. Tractor conveying process: Tractors (also called crawlers, crawling robots) can be divided into two categories. These two types of tractors also need to carry cables from the ground into the well, and the ground issues work instructions through the cables connected to them. The two methods are the grasping arm sliding type and the rotating wheel crawling type. The grasping arm crawling robot is easily affected by the irregularities of the wellbore, especially when encountering pocket wells or reduced-diameter wellbores, which will affect the telescopic arm of the crawling robot and make it impossible to continue moving forward in the wellbore; while the roller robot is affected by the weight of the cable. Generally, the cable is 500 meters to 1000 meters deep, and the weight of the cable lowered along the way exceeds the load and it cannot move forward. Both of the above methods require stopping the well for testing, which will affect the output of the production well and the benefits of the oil field.

[0007] 3. Hydraulic conveying technology: It is common to use hydraulic conveying technology to log and find water during oil field development. This technology is relatively easy to implement on site. When the instrument string is lowered into the well and gets stuck, the hydraulic pump can provide power to reduce the blockage accident. When using this technology, the higher the water content of the oil well, the more accurate the measured results. However, its disadvantage is that it is easy to cause pollution to the formation.

[0008] 4. Drill pipe delivery process: Common drill pipe delivery processes include the protection basket type tubing delivery process and the wet joint type tubing delivery process. Among them, the wet joint type tubing delivery process is the most widely used. Both methods require the tubing to be lowered into the well under the connection of the drill pipe. Drill pipe delivery generally includes three steps. The first is to send the instrument above the target layer through the drill pipe, then perform wet joint docking (this step is critical and is related to the success of the entire logging operation), and finally perform logging operations. This process cannot be completed independently by the logging team alone and must be completed in cooperation with the drilling team. In addition, it is impossible to independently implement the test according to the predetermined procedure. The process is relatively complex, the construction is difficult, the risk is high, and the time is long.

[0009] Currently, there is no effective solution to the problem that the logging tool transportation effect in related technologies is poor. All transportation methods require ground tools to be lowered into the well, and the logging tool cannot be lowered into the well independently and complete the logging task.

[0010] Therefore, the inventor, relying on his many years of experience and practice in related industries, proposed a self-propelled measurement device and a self-propelled measurement method for downhole oil well data to overcome the shortcomings of the existing technology. Summary of the Invention

[0011] The purpose of this application is to provide a self-propelled measurement device and a self-propelled measurement method for downhole data of oil wells, so as to realize self-descending into the well and complete the collection of well parameters, self-propelled measurement and return operations, thereby solving the technical problem that the transportation of logging tools requires the accompanying downhole of ground tools, and the logging tools cannot be autonomously descended into the well and complete the logging task.

[0012] The purpose of this application can be achieved by the following scheme:

[0013] The present application provides a self-propelled measurement device for downhole data of an oil well, the self-propelled measurement device for downhole data of an oil well comprising:

[0014] a housing, wherein a propeller is provided on the housing and is used to drive the self-propelled measuring device forward or backward in the well;

[0015] A testing device, the testing device being disposed on the housing and being used to collect data in the well and to locate the position of the self-propelled measuring device in the well;

[0016] A sinking and floating control device, the sinking and floating control device is arranged on the housing or is a part of the housing, and the sinking and floating control device is used to adjust the sinking and floating height of the self-propelled measuring device in the well;

[0017] a hovering device, the hovering device being arranged on the housing, at least a portion of the hovering device being supported on a well wall, and the hovering device being used to hover the self-propelled measurement device at a preset position in the well;

[0018] A power supply device is provided in the housing and is used to supply power to the testing device, the sinking and floating control device, and the hovering device.

[0019] In one embodiment of the present application, the shell is in a spindle shape, and a drag reducing layer is provided on the outer surface of the shell, and the drag reducing layer is used to reduce the viscous resistance of the liquid in the well to the shell.

[0020] In one embodiment of the present application, the shell is made of aluminum-based alloy, and / or the drag reduction layer is made of nanographene.

[0021] In one embodiment of the present application, a plurality of accommodating grooves are provided on the outer wall of the housing and in its circumference;

[0022] The suspension device includes multiple mechanical support arms, which are arranged in the corresponding accommodating grooves. When the mechanical support arms are in a flattened state, the mechanical support arms are located inside the accommodating grooves; when the mechanical support arms are in a supporting state, at least part of the mechanical support arms extends from the opening of the accommodating groove to the outside thereof.

[0023] In one embodiment of the present application, the mechanical support arm includes a first support arm, a second support arm, a mounting base, and a support block, wherein the mounting base is fixed to the outer wall of the shell, the first end of the first support arm is hinged to the mounting base via a first rotating shaft, the second end of the first support arm is hinged to the first end of the second support arm via a second rotating shaft, the second end of the second support arm is movably disposed on the outer wall of the shell, and the support block is disposed at a hinged position between the first support arm and the second support arm;

[0024] When the mechanical support arm is in a flattened state, the second end of the second support arm moves away from the first support arm until the first support arm and the second support arm are both attached to the outer wall of the shell; when the mechanical support arm is in a supporting state, the second end of the second support arm moves toward the first support arm until the support block is against the well wall.

[0025] In one embodiment of the present application, the mechanical support arm further includes a first motor, a first screw rod, and a nut, wherein the first motor is disposed on the mounting base, the first screw rod extends along the moving direction of the second end of the second support arm, one end of the first screw rod is connected to the output shaft of the first motor, the nut 708 is connected to the second end of the second support arm, and the nut is screwed to the first screw rod;

[0026] A slide rail is provided on the outer wall of the shell, and at least a part of the nut can be slidably connected to the slide rail.

[0027] In one embodiment of the present application, the mechanical support arm is provided with a folding blade; when the mechanical support arm is in a flattened state, the folding blade is located in the accommodating groove; when the mechanical support arm is in a supporting state, the folding blade is located outside the accommodating groove and rotates with the flow of the liquid in the well;

[0028] The mechanical support arms and the folding blades correspond one to one, and the number of the mechanical support arms and the number of the folding blades are greater than or equal to three.

[0029] In one embodiment of the present application, the interior of the housing has a first compartment, and the first compartment is located at the front of the self-propelled measurement boat;

[0030] The self-propelled measurement device for downhole data of an oil well also includes a controller;

[0031] The testing device includes a gyroscope, a three-axis acceleration sensor, a pressure sensor, an oil-gas-water mixture ratio sensor, a temperature sensor and an acoustic rangefinder. The controller, the gyroscope, the three-axis acceleration sensor, the pressure sensor, the oil-gas-water mixture ratio sensor and the temperature sensor are all located in the first chamber. The acoustic rangefinder is arranged on the outer wall of the first chamber. The gyroscope, the three-axis acceleration sensor, the pressure sensor, the oil-gas-water mixture ratio sensor, the temperature sensor and the acoustic rangefinder are electrically connected to the controller respectively.

[0032] In one embodiment of the present application, the testing device further includes an image acquisition device, which is disposed at the front of the outer wall of the first chamber, is electrically connected to the controller, and is used to acquire images inside the well.

[0033] In one embodiment of the present application, the testing device also includes a magnetic locator, which is arranged at the front of the first chamber and is electrically connected to the controller. The magnetic locator is used to detect the position of each oil pipe coupling along the moving path of the self-propelled measuring device to obtain the actual moving trajectory of the self-propelled measuring device.

[0034] In one embodiment of the present application, a data interface is provided on the shell, and the data interface is electrically connected to the controller. The movement trajectory of the self-propelled measuring device in the well is pre-stored in the controller through the data interface for comparison with the actual movement trajectory of the self-propelled measuring device detected by the magnetic locator.

[0035] In one embodiment of the present application, a wireless communication transmitter is provided on the housing, and the wireless communication transmitter is used to communicate with a wireless receiving device on the ground.

[0036] In one embodiment of the present application, the sinking and buoyancy control device includes a second chamber, a gas compression chamber, and a sinking and buoyancy control chamber, which are arranged in sequence and isolated from each other. The second chamber, the gas compression chamber, and the sinking and buoyancy control chamber are all located in the housing. The gas compression chamber and the sinking and buoyancy control chamber are separated by a movable piston. The piston is connected to a driving device to drive the piston to move between the gas compression chamber and the sinking and buoyancy control chamber.

[0037] The gas compression chamber is provided with a compression part, which contains compressed gas, and the compression part is provided with an internal valve to control the compressed gas in the compression part to enter the gas compression chamber;

[0038] An external valve is provided on the wall of the sinking and floating control chamber to control the connection and disconnection between the sinking and floating control chamber and the outside world;

[0039] The volumes of the gas compression chamber and the buoyancy control chamber are changed by moving the piston, and the amount of liquid entering the buoyancy control chamber is changed by opening the external valve, so as to adjust the buoyancy height of the self-propelled measuring device in the well.

[0040] In one embodiment of the present application, the driving device includes a second motor and a second screw rod, the second motor is arranged in the second chamber, one end of the second screw rod is located in the second chamber and is connected to the output shaft of the second motor, the other end of the second screw rod is sealed through the partition between the second chamber and the gas compression chamber and is sealed and screwed to the piston, and the inner wall of the shell limits the circumferential position of the piston so that when the second screw rod is in a rotating state, the piston can move along the axial direction of the second screw rod.

[0041] In one embodiment of the present application, a power supply compartment and a propulsion compartment are provided in the shell, and the power supply compartment and the propulsion compartment are located at the rear of the shell. A battery and a driver are provided in the power supply compartment, and a third motor for driving the propeller to rotate is provided in the propulsion compartment. The output shaft of the third motor is connected to the rotating shaft of the propeller, the control signal output end of the controller is electrically connected to the control signal receiving end of the driver, the control signal output end of the driver is electrically connected to the control end of the third motor, and the power supply end of the driver and the power supply end of the controller are electrically connected to the battery respectively.

[0042] In one embodiment of the present application, a charging interface is provided on the housing, and the charging interface is electrically connected to the battery.

[0043] In one embodiment of the present application, the self-propelled measurement device for downhole oil well data further includes a first water jet pump and a second water jet pump having opposite spray directions, wherein the first water jet pump and the second water jet pump are respectively disposed on the front and rear outer walls of the housing;

[0044] And / or, a first pump nozzle and a second pump nozzle are respectively provided at the front and rear of the shell, and the first water spray pump and the second water spray pump are respectively located in the first pump nozzle and the second pump nozzle.

[0045] In one embodiment of the present application, buckles are respectively provided on the outer walls of the front and rear parts of the shell, and the corresponding buckles can be connected between the multiple shells 1 through cables to connect the multiple shells in series.

[0046] The present application provides a self-propelled measurement method, which uses the above-mentioned self-propelled measurement device for downhole oil well data. The method includes the following steps:

[0047] Step S1: lowering the self-propelled measuring device from the wellhead into the well;

[0048] Step S2: After the self-propelled measuring device descends into the well liquid, the self-propelled measuring device is released, and the self-propelled measuring device continues to sink to the bottom of the vertical well section in the well liquid by its own gravity;

[0049] Step S3: activating the propulsion mechanism of the self-propelled measuring device to enable the self-propelled measuring device to move in the inclined well section or the horizontal well section until the self-propelled measuring device moves to a preset position in the well;

[0050] Step S4: collecting in-well data through the testing device on the self-propelled measurement device;

[0051] Step S5: The control device determines whether the test is completed based on the preset detection information;

[0052] Step S6: If the test is not completed, repeating the above steps S3 to S5 until the test is completed; if the test is completed, controlling the propulsion mechanism to provide a reverse propulsion force to return the self-propelled measurement device to the bottom of the vertical well section;

[0053] Step S7: controlling the self-propelled measuring device to float to the liquid surface;

[0054] Step S8: fishing the self-propelled measurement device out of the wellhead to complete the self-propelled measurement work.

[0055] As described above, the characteristics and advantages of the self-propelled measurement device and self-propelled measurement method for oil well downhole data of the present application can be at least as follows: a propeller, a test device, a hovering device and a sinking and floating control device are provided on the housing of the self-propelled measurement device; by controlling the forward and reverse rotation of the propeller, the self-propelled measurement device can be driven forward or backward in the well; after the self-propelled measurement device is lowered into the well, the well data can be collected and the position of the self-propelled measurement device in the well can be located by the test device, and the sinking and floating height of the self-propelled measurement device in the well can be adjusted by the sinking and floating control device to achieve functions such as obstacle avoidance and hovering; when the self-propelled measurement device reaches a preset position in the well, at least part of the position of the hovering device can be controlled to offset the well wall, so that the self-propelled measurement device hovers at the preset position in the well and collects the well data at the preset position. The present application uses the coordinated work of the propeller, the test device, the hovering device and the sinking and floating control device to enable the self-propelled measurement device to accurately move to the preset position in the well and stably hover at the preset position, ensuring the smooth completion of the oil well parameter collection task. Therefore, the self-propelled measuring device for downhole oil well data of the present application does not require ground tools to accompany it down the well. It can go down the well by itself and complete the collection of well parameters, complete the logging task, and realize self-propelled measurement and return operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The following figures are intended only to illustrate and explain the present application and are not intended to limit the scope of the present application.

[0057] FIG1 is a schematic diagram of the structure of a self-propelled measurement device for downhole oil well data in this application.

[0058] FIG2 is a second structural diagram of the self-propelled measurement device for downhole oil well data in this application.

[0059] FIG3 is a schematic diagram of the structure of the mechanical support arm in the self-propelled measurement device for downhole oil well data in this application.

[0060] FIG4 is a cross-sectional view of a mechanical support arm in a self-propelled measurement device for downhole oil well data according to the present application.

[0061] FIG5 is a second structural diagram of the self-propelled measurement device for downhole oil well data in this application.

[0062] FIG6 is a schematic structural diagram of a plurality of self-propelled measurement devices for downhole oil well data connected in series in this application.

[0063] FIG7 is a flow chart of the self-propelled measurement method of the present application. DETAILED DESCRIPTION

[0064] In order to have a clearer understanding of the technical features, purposes and effects of this application, the specific implementation methods of this application are now described with reference to the accompanying drawings.

[0065] In this application, words indicating direction such as "upper", "lower", "front" and "back" are based on the "upper", "lower", "front" and "back" in Figure 1, and are intended to illustrate the positional relationship, not to limit the specific direction.

[0066] Implementation Method 1

[0067] As shown in FIG1 , the present application provides a self-propelled measurement device for downhole data of an oil well, the self-propelled measurement device for downhole data of an oil well comprising: a housing 1, a propeller 2 being provided at the rear of the housing 1, the propeller 2 being used to drive the self-propelled measurement device forward or backward in the well; a testing device being provided in the housing 1, the testing device being used to collect data in the well and to locate the position of the self-propelled measurement device in the well; a sinking and floating control device being provided in the housing 1 or being a part of the housing 1, the sinking and floating control device being used to adjust the sinking and floating height of the self-propelled measurement device in the well; a hovering device being provided in the housing 1, at least part of which can be supported on the well wall, the hovering device being used to hover the self-propelled measurement device at a preset position in the well; a power supply device being provided in the housing 1, the power supply device being used to supply power to the testing device, the sinking and floating control device, and the hovering device. It should be noted that the rear portion may be, for example, the tail portion of the housing with the forward direction of the housing as the forward direction.

[0068] In the present application, a propeller 2, a test device, a hovering device and a sinking and floating control device are provided on the housing 1 of the self-propelled measuring device. By controlling the forward and reverse rotation of the propeller 2, the self-propelled measuring device can be driven forward or backward in the well. After the self-propelled measuring device is lowered into the well, the test device can be used to collect data in the well and locate the position of the self-propelled measuring device in the well, and the sinking and floating height of the self-propelled measuring device in the well can be adjusted by the sinking and floating control device to achieve functions such as obstacle avoidance and hovering. When the self-propelled measuring device reaches a preset position in the well, at least part of the position of the hovering device can be controlled to offset the well wall, so that the self-propelled measuring device hovers at the preset position in the well and collects data in the well at the preset position. In the present application, the propeller 2, the test device, the hovering device and the sinking and floating control device work together to enable the self-propelled measuring device to accurately move to the preset position in the well and stably hover at the preset position, thereby ensuring the smooth completion of the parameter collection task in the oil well. The self-propelled measuring device for downhole oil well data of the present application does not require ground tools to accompany it down the well. It can go down the well by itself and complete the collection of well parameters, complete the logging task, and realize self-propelled measurement and return operations.

[0069] In an optional implementation of the present application, as shown in Figure 1, the shell 1 is spindle-shaped, and a drag reduction layer (not shown) is provided on the outer surface of the shell 1. The drag reduction layer is used to reduce the viscous resistance of the liquid in the well to the shell 1, thereby ensuring that the self-propelled measurement device can pass smoothly in the well.

[0070] Furthermore, the housing 1 can be made of, but not limited to, an aluminum-based alloy. The shuttle-shaped housing 1 facilitates movement within the well and prevents jamming. The high-strength aluminum-based alloy ensures the housing 1's high strength, preventing damage during movement. In practical applications, the dimensions of the housing 1 can be adjusted based on requirements (e.g., wellbore size and the number of data acquisition devices onboard). For example, the length of the housing 1 can be, but not limited to, 90 mm, and the maximum diameter of the housing 1 can be, but not limited to, 61 mm.

[0071] Furthermore, the drag reduction layer can be made of, but not limited to, nanographene, which can reduce the viscous resistance of the liquid in the well to the shell 1 when moving forward in the liquid, and has the characteristics of being strong, wear-resistant, mud-resistant and light in weight.

[0072] In an optional embodiment of the present application, as shown in Figures 2 to 4, a plurality of accommodating grooves 107 are located on the outer wall of the middle and rear part of the shell 1 and are evenly spaced in the circumferential direction of the shell 1. The hovering device includes a plurality of mechanical support arms 7, and the accommodating grooves 107 are long strip-shaped grooves adapted to the mechanical support arms 7. When the mechanical support arms 7 are in a flattened state, they can be completely located inside the accommodating grooves 107. The plurality of accommodating grooves 107 correspond one-to-one to the plurality of mechanical support arms 7. The plurality of mechanical support arms 7 are respectively arranged in the corresponding accommodating grooves 107. When the mechanical support arms 7 are in a flattened state, the mechanical support arms 7 are located inside the accommodating grooves 107. When the mechanical support arms 7 are in a supporting state, at least part of the mechanical support arms 7 extends from the opening of the accommodating groove 107 to the outside thereof.

[0073] Furthermore, the number of the mechanical support arms 7 and the accommodating grooves 107 is at least three, and two adjacent mechanical support arms 7 are distributed at an interval of 120° in the circumferential direction of the housing 1 to ensure stable support for the self-propelled measurement device.

[0074] In this embodiment, as shown in Figures 2 to 4, the mechanical support arm 7 includes a first support arm 701, a second support arm 702, a mounting base 704 and a support block 710. The first support arm 701 and the second support arm 702 are both long plate-shaped. The mounting base 704 is fixedly installed on the outer wall of the shell 1. The first end of the first support arm 701 (the two ends of the first support arm 701 are respectively the first end and the second end) is hinged to the mounting base 704 through a first rotating shaft 705 (and / or a bearing), and the second end of the first support arm 701 is hinged to the first end of the second support arm 702 (the two ends of the second support arm 702 are respectively the first end and the second end). The second end of the second support arm 702 is movably disposed on the outer wall of the housing 1, and the support block 710 is disposed at the hinged position between the first support arm 701 and the second support arm 702. When the mechanical support arm 7 is in a flattened state, the second end of the second support arm 702 moves away from the first support arm 701 until both the first support arm 701 and the second support arm 702 are attached to the outer wall of the housing 1 (the first support arm 701 and the second support arm 702 are completely located within the accommodating recess 107). When the mechanical support arm 7 is in a supporting state, the second end of the second support arm 702 moves toward the first support arm 701 until the support block 710 abuts against the well wall. In this embodiment, the support block 710 is a block-shaped structure having a support surface that can conform to the well wall, thereby ensuring that the mechanical support arm 7 is stably supported on the well wall. The support block 710 can be connected to the second end of the first support arm 701, or to the first end of the second support arm 702, and also connected to the second rotating shaft 703. There are many ways to install the support block 710, as long as it can ensure that it is in contact with the well wall. The specific installation method is not limited here.

[0075] Furthermore, as shown in Figures 2 to 4, the mechanical support arm 7 also includes a first motor 706, a first screw rod 707 and a nut 708. The first motor 706 is fixedly arranged on the mounting base 704, and the first screw rod 707 extends along the moving direction of the second end of the second support arm 702. One end of the first screw rod 707 is connected to the output shaft of the first motor 706, and the nut 708 is connected to the second end of the second support arm 702 and the nut 708 is screwed to the first screw rod 707. The first motor 706 drives the first screw rod 707 to rotate. Due to the circumferential positioning of the nut 708 by the second support arm 702, the nut 708 only moves along the length of the first screw rod 707 during the rotation of the first screw rod 707. The movement of the nut 708 then drives the second end of the second support arm 702 to move. Due to the hinged connection between the first support arm 701 and the second support arm 702, when the second end of the second support arm 702 moves toward the first support arm 701, the second end of the first support arm 701 and the first end of the second support arm 702 move away from the housing 1, thereby driving the support block 710 to a position that contacts the well wall. When the mechanical support arm 7 is in the supporting state, a triangular structure is formed between the first support arm 701, the second support arm 702, and the first screw rod 707, which has high stability. In this embodiment, the driving end of the first motor 706 can be electrically connected to a driver in the housing 1, and the driver is electrically connected to a controller and a power supply respectively, thereby controlling and supplying power to the first motor 706.

[0076] In the present application, when the first support arm 701 and the second support arm 702 are in the propped-up state, the angle between the outer surfaces of the first support arm 701 and the second support arm 702 can reach or approach 90°; at this time, the first support arm 701 and the second support arm 702 are close to overlapping, the nut 708 moves to the end position, and can contact the limit switch set at the end position, thereby sending a control signal to the controller, and the controller controls the first motor 706 to stop rotating. When data collection is completed, the first motor 706 rotates in the reverse direction, and the nut 708 moves in the reverse direction until the first support arm 701 and the second support arm 702 are fully extended; at this time, the first support arm 701 and the second support arm 702 are fully retracted and fit into the accommodating groove 107, so that the self-propelled measurement device can continue to move; at this time, the limit switch sends a control signal to the controller, and the controller controls the first motor 706 to stop rotating again.

[0077] Furthermore, as shown in FIG3 , a slide rail 709 is provided on the outer wall of the housing 1 , and at least a portion of the nut 708 can be slidably connected to the slide rail 709 , thereby guiding the nut 708 and improving the stability of the movement of the nut 708 .

[0078] Furthermore, as shown in Figures 2 to 4, a folding paddle 711 is provided on the mechanical support arm 7, and the folding paddle 711 is connected to an encoder, and a data output end of the encoder is electrically connected to a data receiving end of the controller located in the shell 1; when the mechanical support arm 7 is in a flattened state, the folding paddle 711 is located in the accommodating groove 107; when the mechanical support arm 7 is in a supporting state, the folding paddle 711 moves with the mechanical support arm 7 to the outside of the accommodating groove 107 (exposed to the liquid in the well), and the extension direction of the folding paddle 711 can be perpendicular to the outer wall of the shell 1 and parallel to the extension direction of the well, and the folding paddle 711 can rotate with the flow of the liquid in the well, and the encoder transmits the rotation speed of the folding paddle 711 to the controller, and the controller converts the rotation speed of the folding paddle 711 into the flow rate of the liquid in the well, which can be stored in the storage cavity so as to record and analyze the flow rate of the liquid in the well. In this embodiment, the mechanical support arms 7 and the folding blades 711 correspond one to one, and the number of the mechanical support arms 7 and the folding blades 711 is greater than or equal to three.

[0079] In an optional embodiment of the present application, as shown in FIG1 , the interior of the housing 1 includes a first compartment 101, which is located at the front of the self-propelled survey boat. In this embodiment, the self-propelled survey device for measuring downhole oil well data also includes a controller; the test device includes a gyroscope, a triaxial accelerometer, a pressure sensor, an oil-gas-water mixture ratio sensor, a temperature sensor (Distributed Temperature Sensor; DTS / Distributed Acoustic Sensor; DAS), and an acoustic rangefinder 9 (or ultrasonic sensor). The controller, gyroscope, triaxial accelerometer, pressure sensor, oil-gas-water mixture ratio sensor, and temperature sensor are all located within the first compartment 101. The acoustic rangefinder 9 is mounted on the outer wall of the first compartment 101. The gyroscope, triaxial accelerometer, pressure sensor, oil-gas-water mixture ratio sensor, temperature sensor, and acoustic rangefinder 9 are each electrically connected to the controller. In this embodiment, the data acquisition terminal of the temperature sensor extends outside the first compartment 101 and is used to collect temperature data of the well fluid and output the collected temperature data to the controller for storage in a memory. The gyroscope is used to collect data on the self-propelled measurement device's directional changes (angle changes) and outputs the collected directional change data to the controller for storage in memory. The triaxial accelerometer is used to collect the gravitational acceleration of the self-propelled measurement device in the horizontal direction within the wellbore and outputs the collected gravitational acceleration data to the controller for storage in memory. The data acquisition terminal of the pressure sensor extends outside the first chamber 101 and is used to collect pressure data within the wellbore and output the collected pressure data to the controller for storage in memory. The data acquisition terminal of the oil-gas-water mixture ratio sensor extends outside the first chamber 101 and is used to collect the ratio of oil, gas, and water in the wellbore fluid and output the collected data to the controller for storage in memory. In addition, a PCB (Printed Circuit Board) may be provided within the first chamber 101. The PCB may include, but is not limited to, components such as an MCU (Microcontroller Unit) chip, memory, voltage conversion / stabilization circuits or components, photoelectric converters, capacitors, and A / D (analog / digital) converters.

[0080] When the self-propelled measuring device moves within the well, the acoustic rangefinder 9 can be used to detect whether there are obstacles in the direction of the self-propelled measuring device's movement, so as to control the floating state of the self-propelled measuring device, thereby avoiding obstacles and preventing collisions with obstacles, thereby ensuring the smooth progress of the self-propelled measuring device. In this embodiment, as shown in Figure 1, the number of acoustic rangefinders 9 is at least three, and the multiple acoustic rangefinders 9 are located at the front end of the first chamber 101 and are spaced and evenly arranged along the circumference of the first chamber 101.

[0081] Furthermore, as shown in FIG1 , the testing device also includes an image acquisition device 8 , which is disposed on the front portion of the outer wall of the first chamber 101 and is electrically connected to the controller. Image acquisition device 8 is used to capture images within the well. Image acquisition device 8 may be, but is not limited to, an underwater camera or an endoscope.

[0082] In an optional embodiment of the present application, as shown in Figure 1, the testing device also includes a magnetic locator (collar locator, CCL), which is arranged at the front of the first chamber 101. The magnetic locator is electrically connected to the controller. The magnetic locator is used to detect the position of each oil pipe coupling along the moving path of the self-propelled measuring device. By positioning the oil pipe coupling, the actual moving position of the self-propelled measuring device can be obtained, and then the actual moving trajectory of the self-propelled measuring device can be obtained.

[0083] In an optional embodiment of the present application, as shown in FIG1 , a data interface 11 is provided on the housing 1, and the data interface 11 is electrically connected to the controller. The movement trajectory of the self-propelled measuring device in the well can be pre-stored in the controller through the data interface 11. After the actual movement trajectory of the self-propelled measuring device is obtained through the magnetic locator, the actual movement trajectory of the self-propelled measuring device detected by the magnetic locator can be compared with the pre-stored movement trajectory of the self-propelled measuring device to determine whether the self-propelled measuring device is moving in the well according to the preset movement trajectory. After reaching the preset position, the self-propelled measuring device can be controlled to hover at the preset position, and the well parameters can be collected at the preset position. In this embodiment, the data interface 11 can be, but is not limited to, a USB (Universal Serial Bus) interface.

[0084] In an optional embodiment of the present application, as shown in FIG1 , a wireless communication transmitter 10 is provided on the housing 1. The wireless communication transmitter 10 is used to communicate with a wireless receiving device on the ground so as to transmit the collected data to the ground. Ground personnel can promptly salvage the self-propelled measurement device based on the signal sent by the wireless communication transmitter 10, and can read the detection data received in the controller through the data interface 11. In this embodiment, the wireless communication transmitter 10 can be, but is not limited to, a wireless transmitter (GPS (Global Positioning System) wireless positioning system), which can establish a communication connection with a computer on the ground to transmit wireless signals.

[0085] In an optional embodiment of the present application, as shown in FIG1 , the sinking and floating control device includes a second chamber 102, a gas compression chamber 103 and a sinking and floating control chamber 104 which are arranged in sequence and separated from each other. The second chamber 102, the gas compression chamber 103 and the sinking and floating control chamber 104 are all located in the shell 1, and the sinking and floating control chamber 104 is located in the middle and rear part of the shell 1. The gas compression chamber 103 and the sinking and floating control chamber 104 are separated by a movable piston 3. The piston 3 is connected to the driving device 4 to drive the piston 3 in the gas compression chamber. 103 and the sinking and floating control chamber 104; a compression part is provided in the gas compression chamber 103, and compressed gas is contained in the compression part. An internal valve member 5 is provided on the compression part, and whether the compressed gas in the compression part enters the gas compression chamber 103 can be controlled by turning on and off the internal valve member 5; an external valve member 6 is provided on the chamber wall of the sinking and floating control chamber 104, so that the external valve member 6 can control the opening and closing of the sinking and floating control chamber 104 and the outside world; the volumes of the gas compression chamber 103 and the sinking and floating control chamber 104 are changed by moving the piston 3.

[0086] In this embodiment, the driving device 4 includes a second motor 401 and a second screw rod 402. The second motor 401 is arranged in the second chamber 102. One end of the second screw rod 402 is located in the second chamber 102 and is connected to the output shaft of the second motor 401. The other end of the second screw rod 402 is sealed through the partition between the second chamber 102 and the gas compression chamber 103 and is sealed and screwed with the piston 3. The inner wall of the shell 1 limits the piston 3 circumferentially (the piston 3 is non-circular, so that after the edge of the piston 3 is sealed and fitted with the inner wall of the shell 1, the piston 3 can be limited in the circumferential direction), so that when the second screw rod 402 is in a rotating state, the piston 3 cannot rotate along the circumferential direction of the second screw rod 402, but moves along the axial direction of the second screw rod 402, thereby realizing the position adjustment of the piston 3, and thereby changing the volume of the gas compression chamber 103 and the sinking and buoyancy control chamber 104.

[0087] When the self-propelled measuring device needs to float, the internal valve 5 and the external valve 6 are simultaneously opened, and the compressed gas in the compression part enters the gas compression chamber 103, thereby cooperating with the second screw 402 to push the piston 3 toward the sinking and floating control chamber 104. The gas and liquid in the sinking and floating control chamber 104 are discharged by the external valve 6 to reduce the weight of the self-propelled measuring device and make it float. When the self-propelled measuring device needs to sink, the internal valve 5 and the external valve 6 are simultaneously opened, and the second screw 402 pulls the piston 3 toward the gas compression chamber 103. The gas in the gas compression chamber 103 and the compression part is compressed, and the external liquid is replenished into the sinking and floating control chamber 104 through the external valve 6 to increase the weight of the self-propelled measuring device and make it sink. In this way, the sinking and floating height of the self-propelled measuring device in the well is adjusted to achieve the avoidance action of obstacles.

[0088] In this embodiment, the compression part may be but is not limited to a accommodating space (it may also be a pressure tank) arranged in the gas compression chamber 103, and there is gas in a compressed state in the accommodating space. The accommodating space can be connected to the space outside the accommodating space and inside the gas compression chamber 103 through the internal valve component 5 (that is, the internal valve component 5 is provided on the pressure tank), so that when the self-propelled measuring device floats, the compressed gas enters the gas compression chamber 103 through the internal valve component 5.

[0089] In an optional embodiment of the present application, as shown in Figure 1, the housing 1 further includes a power supply compartment 105 and a propulsion compartment 106, the power supply compartment 105 and the propulsion compartment 106 being located at the rear of the housing 1, the power supply compartment 105 being provided with a battery and a driver, the propulsion compartment 106 being provided with a third motor for driving the propeller 2 to rotate, the output shaft of the third motor being connected to the rotating shaft of the propeller 2, the control signal output end of the controller being electrically connected to the control signal receiving end of the driver, the control signal output end of the driver being electrically connected to the control end of the third motor, the power supply end of the driver and the power supply end of the controller being electrically connected to the battery respectively, the controller being able to send a control signal to the driver, and the driver being able to control the third motor. In addition, the power supply end of the battery is electrically connected to the power supply end of each detection element in the test device (such as: the controller, the gyroscope, the three-axis acceleration sensor, the pressure sensor, the oil-gas-water mixture ratio sensor, the temperature sensor, the acoustic rangefinder 9, the image acquisition device 8, the first motor 706 and the second motor 401) through a transformer, thereby providing power to each detection element. In this application, the battery is connected to each detection element via a cable, and power is directly supplied via the cable. This allows for long-term, continuous acquisition of production dynamic parameters underground, and timely transmission of the collected data to the surface for comprehensive analysis, real-time judgment of operating conditions, and timely implementation of effective measures to achieve the goal of reducing costs and increasing efficiency. The third motor may be, but is not limited to, a brushless DC motor.

[0090] In an optional embodiment of the present application, as shown in Figure 1, a charging port 12 is provided on the housing 1, and the charging port 12 is electrically connected to the battery to charge the battery. In this embodiment, the battery can be, but is not limited to, a high-capacity polymer battery.

[0091] In an optional embodiment of the present application, as shown in FIG5 , the self-propelled measurement device for downhole oil well data further includes a first water jet pump 13 and a second water jet pump 14 having opposite injection directions, the first water jet pump 13 and the second water jet pump 14 being respectively arranged on the outer walls of the front and rear portions of the housing 1; and / or, the front and rear portions of the housing 1 are respectively provided with a first pump nozzle 108 and a second pump nozzle 109, and the first water jet pump 13 is located within the first pump nozzle 108, and the second water jet pump 14 is located within the second pump nozzle 109. During the actual travel of the present application, the propeller 2 may be used alone to provide propulsion for the self-propelled measurement device, or the first water jet pump 13 or the second water jet pump 14 may be used alone to provide propulsion for the self-propelled measurement device. Of course, the propeller 2 and the water jet pump may also be used simultaneously, as long as the smooth travel of the self-propelled measurement device is ensured. When only a water jet pump is used to provide propulsion for the self-propelled measuring device, when the self-propelled measuring device searches for a preset position in the well to collect data after being lowered into the well, it is propelled by the second water jet pump 14 arranged at the rear. When the self-propelled measuring device completes data collection and returns, it is propelled by the first water jet pump 13 arranged at the front.

[0092] In an optional embodiment of the present application, as shown in FIG6 , buckles 15 are respectively provided on the front and rear outer walls of the shell 1 , and the corresponding buckles 15 can be connected between multiple shells 1 via cables 16 to connect the multiple shells 1 in series.

[0093] The characteristics and advantages of the self-propelled measurement device for downhole oil well data of the present application may be at least:

[0094] 1. The self-propelled measuring device for downhole oil well data is provided with a drag-reducing layer on the outer surface of the shell 1, which can reduce the viscous resistance of the liquid in the well to the device body when the self-propelled measuring device moves in the well, ensuring the smooth passage of the self-propelled measuring device in the well.

[0095] 2. The self-propelled measuring device for downhole data of oil wells is provided with a plurality of mechanical support arms 7 on the shell 1. When the mechanical support arms 7 are in a flattened state, the mechanical support arms 7 are attached to the outer wall of the shell 1, which will not affect the normal movement of the self-propelled measuring device in the well, thereby ensuring that the self-propelled measuring device can pass through the wellbore smoothly without wellbore obstruction; when the mechanical support arms 7 are in a supporting state, the self-propelled measuring device can be supported and fixed at a preset position in the well, so that the self-propelled measuring device is in a stable hovering state in the well, thereby ensuring the smooth and stable collection of data in the well, so as to achieve the purpose of self-propelled measurement of data in the well.

[0096] 3. The self-propelled measuring device used for downhole oil well data is equipped with multiple in-well data acquisition devices and detection equipment for positioning and obstacle avoidance of the self-propelled measuring device. It can realize the collection of in-well data, the detection of the trajectory of the self-propelled measuring device, and the transmission of salvage information to the ground.

[0097] 4. The self-propelled measuring device for measuring downhole data of oil wells has a gas compression chamber 103 and a sinking and floating control chamber 104. By adjusting the position of the piston 3, the volumes of the gas compression chamber 103 and the sinking and floating control chamber 104 can be changed to achieve sinking and floating control of the self-propelled measuring device.

[0098] 5. The self-propelled measuring device for measuring downhole oil well data can be connected to corresponding connectors 15 via cables 16 to enable multiple self-propelled measuring devices to be serially connected downhole, thus realizing serial operation of multiple self-propelled measuring devices.

[0099] 6. During the logging process using the self-propelled measurement device for downhole oil well data, oil and water wells can continue to produce normally without shutting in the wells, thus avoiding production reduction and increasing benefits. The control system for self-measurement of downhole oil well data in this application has the advantages of small size, light weight, and convenient transportation. It can reduce labor time, reduce costs, and is not easily affected by wellbore size. The working time is easy to control and the operation is simple. This can reduce construction difficulty, reduce risks, and will not cause pollution to the environment. It can be widely used in the detection of oil and water wells and other water areas, and has a wide range of applications.

[0100] Implementation Method 2

[0101] As shown in FIG7 , the present application provides a self-propelled measurement method, which uses the self-propelled measurement device for downhole oil well data described above. The method includes the following steps:

[0102] Step S1: lowering the self-propelled measuring device from the wellhead into the well;

[0103] Specifically, the various parts of the self-propelled measuring device are assembled on the ground, the sealing connection parts and cable connection parts are checked, the battery storage capacity is measured to ensure correctness, and the wireless communication effects of the wireless communication transmitter 10, test instruments (such as gyroscopes, three-axis acceleration sensors, pressure sensors, oil-gas-water mixture ratio sensors and temperature sensors) and control mechanisms are tested. After passing the test, the self-propelled measuring device is connected to the rear part (i.e., the tail) of the self-propelled measuring device by a cable in an automatic unhooking manner, and the front part (i.e., the head) of the self-propelled measuring device faces the well and is slowly lowered into the well from the wellhead.

[0104] Step S2: After the self-propelled measuring device descends into the well liquid, the self-propelled measuring device is released, and the self-propelled measuring device continues to sink to the bottom of the vertical well section in the well liquid by its own gravity;

[0105] Specifically, when the winch is slowly turned to lower the self-propelled measuring device into the underground liquid, the cable is automatically released and the propulsion mechanism (propeller 2 or water jet pump) is temporarily not started, so that the self-propelled measuring device continues to sink to the lowest position of the vertical well section in the well by its own weight in the liquid in the well.

[0106] Step S3: starting the propulsion mechanism (propeller 2 or water jet pump) of the self-propelled measuring device to move the self-propelled measuring device in the inclined well section or the horizontal well section until the self-propelled measuring device moves to a preset position in the well;

[0107] Furthermore, in step S3, after the self-propelled measuring device enters the inclined well section or the horizontal well section, the ground receives the position signal sent by the wireless communication transmitter 10 on the self-propelled measuring device, and starts the propulsion mechanism. The self-propelled measuring device moves forward relying on the propulsion force provided by the propulsion mechanism.

[0108] Furthermore, in step S3, during the movement of the self-propelled measuring device, the moving path of the self-propelled measuring device is positioned according to the magnetic locator on the self-propelled measuring device to obtain the actual moving trajectory of the self-propelled measuring device; and after the self-propelled measuring device reaches the preset position in the well, the floating height of the self-propelled measuring device in the well is adjusted, and the mechanical support arm 7 on the self-propelled measuring device is controlled to extend until it is against the well wall, so that the self-propelled measuring device hovers at the preset position in the well. After the self-propelled measuring device is stable, the data in the well can be collected.

[0109] Step S4: collecting data in the well using the test device on the self-propelled measurement device;

[0110] Furthermore, in step S4 , the collected in-well data is stored in a memory and / or sent to the surface via the wireless communication transmitter 10 on the self-propelled measurement device.

[0111] Step S5: The control device determines whether the test is completed based on the preset detection information;

[0112] Step S6: If the test is not completed, repeat the above steps S3 to S5 to make the self-propelled measuring device move to the next preset position in the well to collect data until the test is completed; if the test is completed, control the propulsion mechanism to provide reverse propulsion force to return the self-propelled measuring device to the bottom of the vertical well section;

[0113] Step S7: Control the self-propelled measuring device to float to the liquid surface;

[0114] Furthermore, in step S7, after the self-propelled measuring device returns to the bottom of the vertical well section, the external valve 6 on the self-propelled measuring device is turned on, and the piston 3 in the self-propelled measuring device is controlled to push out the liquid in the sinking and buoyancy control chamber 104, so that the self-propelled measuring device floats to the liquid surface.

[0115] Step S8: The self-propelled measurement device is salvaged from the wellhead to complete the self-propelled measurement work.

[0116] Furthermore, in step S8, after the ground receives the position signal sent by the wireless communication transmitter 10 on the self-propelled measuring device, the salvage tool is lowered to salvage the self-propelled measuring device out of the well, and the well data stored in the memory is read through the data interface 11 on the self-propelled measuring device and compared with the well data sent to the ground by the wireless communication transmitter 10 on the self-propelled measuring device to determine various parameters in the well.

[0117] The self-propelled measurement method of the present application has the same characteristics and advantages as the above-mentioned self-propelled measurement device for downhole oil well data, which will not be described in detail here.

[0118] The following is a detailed description of multiple actual working states of the self-propelled measurement device for downhole oil well data of the present application.

[0119] Example 1, setting of travel route

[0120] Before the self-propelled measuring device needs to go down the well, it moves forward according to the preset wellbore structure route. During the movement, it locates and automatically generates an actual movement trajectory based on the positioning of the oil pipe coupling or other auxiliary means for storage and judgment; the actual movement trajectory is used to compare with the pre-stored preset movement trajectory. When the generated actual movement trajectory reaches the end position of the preset movement trajectory, the self-propelled measuring device is controlled to hover and measure the well data at that position, and then continues to move forward until the task is completed, generating a more realistic movement trajectory.

[0121] Example 2: Perception and Risk Avoidance During Travel

[0122] The front part of the self-propelled measuring device can be made of elastic material or be provided with elastic components, so that the self-propelled measuring device will automatically rebound after hitting an obstacle, and trigger the sonic rangefinder 9 installed at the front of the self-propelled measuring device to detect the obstacle and the distance between the obstacle and the well wall, so as to know whether there is enough space between the obstacle and the well wall for the self-propelled measuring device to pass through (i.e., cross the obstacle); if the passing requirements of the self-propelled measuring device are met, the controller controls the driving device 4 to operate to drive the piston 3 to move, thereby increasing or decreasing the volume of the sinking and buoyancy control chamber 104, and turning on the external valve 6 to change the liquid capacity in the sinking and buoyancy control chamber 104, so that the self-propelled measuring device can float Or dive to a position where obstacles can be avoided (during this process, the distance can be measured and judged every 5s or other preset time greater than 5s by the sonic rangefinder 9, and the position signal of the self-propelled measuring device can be fed back to the controller in combination with the gyroscope and the three-axis acceleration sensor. The controller continuously adjusts the floating or sinking position of the self-propelled measuring device according to the received position signal to ensure that the self-propelled measuring device can cross the obstacle); after crossing the obstacle, the position of the self-propelled measuring device in the well is readjusted to ensure that the self-propelled measuring device does not touch the well wall, then the sonic rangefinder 9 is turned off and the self-propelled measuring device continues to move forward; if the existing obstacle prevents the self-propelled measuring device from passing, it is controlled to return. Through the above control method, it is possible to avoid the self-propelled measuring device from getting stuck, and it is also possible to avoid the self-propelled measuring device from colliding with the well wall, thereby avoiding two-way damage to the well wall and the hull.

[0123] Example 3: Propeller propulsion

[0124] When sailing forward, the controller controls the flow path of propeller 2 to the forward direction, pushing the self-propelled measuring device forward; when sailing reversely, the controller controls propeller 2 to adjust the flow path to rotate in the reverse direction, driving the self-propelled measuring device to move in the reverse direction and return to the ground.

[0125] Example 4: Using pump-jet propulsion

[0126] When sailing in the forward direction, the controller controls the second water jet pump 14 at the rear of the shell 1 to start, and the water flow is sucked in from the tail channel and sprayed out after high-speed rotation, driving the self-propelled measuring device to move forward; when returning in the reverse direction, the controller controls the first water jet pump 13 at the front of the shell 1 to start, and the water flow is sucked in and sprayed out after high-speed rotation, so that the self-propelled measuring device can move in the reverse direction and return to the ground.

[0127] Example 5, Downhole Testing

[0128] When the self-propelled measuring device moves to a preset position in the well, the controller controls the multiple mechanical support arms 7 to extend until they are against the well wall. The self-propelled measuring device is fixed by the multiple mechanical support arms 7 so that it can hover at the preset position. If the radial distance between the self-propelled measuring device and the well wall (i.e., the distance between the self-propelled measuring device and the well wall) is within the maximum extension range of the mechanical support arm 7 (such as 100mm), the mechanical support arm 7 can stably support the self-propelled measuring device and prevent it from being washed away by the liquid in the well, thereby minimizing the consumption of electrical energy during data collection (the rotation of the propeller 2 can be reduced or stopped), and the noise pollution caused by the propeller 2 stirring the liquid to produce cavitation can be reduced or stopped, making the data collection results more accurate; if the radial distance between the self-propelled measuring device and the well wall exceeds the maximum extension range of the mechanical support arm 7 (such as 100mm), the mechanical support arm 7 cannot be fully supported on the well wall even when extended to the maximum position. If the rotation of the propeller 2 is reduced or stopped, the propeller 2 will not be able to fully support the well wall. The gyrometer and the three-axis acceleration sensor will detect changes in the deflection angle and gravity acceleration of the self-propelled measuring device and other parameters, and feed them back to the controller. At this time, the controller controls the motor to adjust the rotation speed of the propeller 2 so that the propeller 2 provides appropriate thrust for the self-propelled measuring device, so that the forward thrust of the propeller 2 on the self-propelled measuring device is offset by the backward thrust of the liquid in the well on the self-propelled measuring device, so as to achieve the hovering of the self-propelled measuring device at a preset position; when the self-propelled measuring device processes the hovering state (which can be obtained by the three-axis acceleration sensor detecting the gravity acceleration of the self-propelled measuring device in the horizontal direction), the controller can control the pressure sensor, oil-gas-water mixture ratio sensor, temperature sensor, etc. to collect the parameters in the well, so that the collected data is more accurate and true.

[0129] Example 6: Working Principle of Self-Propelled Measurement Device

[0130] A self-propelled measuring device is slowly lowered into the well from the wellhead by a rope. When the self-propelled measuring device is lowered into the liquid in the well, the rope connected to the self-propelled measuring device can be disconnected, and the self-propelled measuring device continues to sink in the liquid to the position where it connects to the bottom of the well and the horizontal well section by its own gravity; when the self-propelled measuring device is located in the horizontal well section of the well, the propeller 2 is controlled to rotate to provide the self-propelled measuring device with forward thrust, and the position of the piston 3 is changed to adjust the volume of the gas compression chamber 103 and the sinking and buoyancy control chamber 104, so that the self-propelled measuring device can float or sink; when the self-propelled measuring device is moving in the horizontal well section, The travel position of the self-propelled measuring device can be located according to the magnetic locator (because the magnetic locator detects that the induced current at the position of the oil pipe body and the oil pipe coupling is different, therefore, during the travel of the self-propelled measuring device, the magnitude of the induced current at each moment can be recorded by the magnetic locator, and a curve of the position of the oil pipe coupling can be formed according to the change of the induced current) to obtain the actual movement trajectory of the self-propelled measuring device, and the actual movement trajectory of the self-propelled measuring device is compared with the pre-stored movement trajectory of the self-propelled measuring device. If it is determined that it has traveled to the preset position in the well, the self-propelled measuring device is controlled to hover at the preset position, and the well parameters are collected at the preset position; when the preset position is reached, the self-propelled measuring device is controlled to hover at the preset position, and the well parameters are collected at the preset position. After the well parameters on the position are collected, if there is a next preset position where the well parameters need to be collected, the controller controls the self-propelled measuring device to move to the next preset position to collect the well parameters until the well parameters at all preset positions are collected; if there are no other well parameters that need to be collected, the propeller 2 is controlled to change direction to provide reverse thrust for the self-propelled measuring device to realize the return journey; when the self-propelled measuring device returns to the vertical well section position connected to the horizontal well section (the self-propelled measuring device cannot continue to move forward in the horizontal direction), the control piston 3 moves toward the rear of the self-propelled measuring device to reduce the volume of the sinking and buoyancy control chamber 104, and the sinking and buoyancy control chamber 104 is adjusted to the vertical position. The liquid in the chamber 104 is discharged by the external valve 6, and the volume of the gas compression chamber 103 is increased, so that the buoyancy of the liquid on the self-propelled measuring device is greater than the gravity of the self-propelled measuring device, and the self-propelled measuring device floats to the liquid surface in the vertical well section; when the self-propelled measuring boat floats to the liquid surface, the three-axis acceleration sensor detects that the vertical acceleration of the self-propelled measuring device becomes zero, and the controller controls the wireless communication transmitter 10 to send a signal (GPS, electromagnetic wave or ultrasonic wave). After receiving the wireless signal, the ground staff can start using salvage tools to salvage the self-propelled measuring device out of the wellhead, and read the collected data through the data interface 11 connected to the controller.

[0131] Example 7: Specific working process of the self-propelled measurement device

[0132] Before entering the well on the ground, the wellbore information is first imported into the controller's memory through the data interface 11. The wellbore information includes wellbore size, wellbore structure, wellbore route, tubing coupling position, and preset parameter measurement position. After entering the well, the trajectory during navigation is recorded and stored in the memory through the magnetic locator to form the actual travel trajectory. The controller compares the actual travel trajectory with the preset travel trajectory to determine whether the self-propelled measurement device has reached the preset position in the preset travel trajectory.

[0133] The widest part of the diameter of the shell 1 in this application is about 61mm, and the length is about 900mm. Before going down the well, the thinner part of the safety tail of the shell 1 is clamped with a cable belt buckle, and slowly placed into the liquid in the well from the wellhead, the clamp is loosened, and it is automatically tripped, allowing the self-propelled measuring device to continue to sink by its own weight in the liquid in the well. When it sinks to the lowest position at the bottom of the well, the self-propelled measuring device compares the actual travel trajectory with the pre-set travel trajectory, and then cooperates with the acoustic sensor to determine whether the self-propelled measuring device has reached the lowest position in the well (or horizontal well section). If it has reached the lowest position in the well, the self-propelled measuring device is controlled to start a navigation test in the horizontal well section. If it has not reached the lowest position in the well, the self-propelled measuring device is adjusted to the appropriate position through the propeller 2 and the sinking and floating control, and the self-propelled measuring device of the device is continued to be controlled to sink, and so on and so forth until it sinks to the beginning of the horizontal well section, and the self-propelled measuring device is pushed forward by the propeller 2.

[0134] When the self-propelled measuring device is moving, the speed of propeller 2 (120-150 revolutions per minute) is low. However, even when the speed is very low, the torsional moment generated by it is large but will not cause the self-propelled measuring device to overturn. However, it will affect the yaw of the self-propelled measuring device. Moreover, in order to navigate smoothly in the narrow space of the wellbore without colliding with the well wall, it is necessary to adjust the sinking and floating position of the self-propelled measuring device in real time. When the self-propelled measuring device moves to the vicinity of the preset position, the array type acoustic rangefinder 9 can be enabled to measure the distance around it. If the circumferential distance is greater than the range of a self-propelled measuring device, a logical judgment is made to determine whether there is a risk of colliding with the well wall. If there is no risk of colliding with the well wall, the self-propelled measuring device continues to move forward. While ensuring that it has no risk of collision within the acoustic wave measurement range, it continues to be propelled by propeller 2 to avoid causing two-way damage to the well wall and the self-propelled measuring device.

[0135] When the self-propelled measuring device encounters an obstacle during its forward movement, the sonic rangefinder detects the circumferential distance of the route ahead, and the controller determines whether there is enough space for the self-propelled measuring device to cross the obstacle based on the collected data, that is, it calculates whether the cross-sectional area of ​​the space is greater than or equal to the cross-sectional area of ​​the maximum width position of the self-propelled measuring device through distance measurement. If it cannot pass through, it is necessary to control the self-propelled measuring device to float up or sink to a suitable position, and use the sonic rangefinder 9 to continuously perform distance measurement and judgment, and continuously adjust the position of the self-propelled measuring device until the self-propelled measuring device can cross the obstacle. After the self-propelled measuring device crosses the obstacle, the position of the self-propelled measuring device in the well is readjusted, and after the self-propelled measuring device does not touch the well wall, the sonic rangefinder 9 is turned off and continues to move forward; if it still cannot cross the obstacle, the self-propelled measuring device is controlled to return to avoid being stuck in the well.

[0136] After the device is lowered into the well normally, the tubing coupling is positioned by a magnetic locator, an actual travel trajectory is generated, and the actual travel trajectory is compared with the stored preset travel trajectory to determine whether the preset position in the well has been reached. When the preset position is reached, the mechanical support arm 7 is controlled to support the well wall, so that the self-propelled measurement device can hover at the preset position and measure the required well data. During the hovering process, the rotation of the propeller 2 can be stopped to minimize the consumption of electrical energy. Since the lengths of the first support arm 701 and the second support arm 702 in the mechanical support arm 7 can both be 100 mm, the maximum length of the well wall that can be supported by the first support arm 701 and the second support arm 702 when fully extended is 100 mm on one side. The support range of the mechanical support arm 7 can vary from 0 to 100 mm according to the wellbore size, so that it can be applied to wellbores of different sizes.

[0137] The specific process of the mechanical support arm 7 being supported on the well wall is as follows: first, after the self-propelled measuring device moves to a preset position in the well, the controller sends a control signal to the driver, and the driver drives the first motor 706 to drive the first support arm 701 and the second support arm 702 to move, so that a stable triangular structure is formed between the first support arm 701, the second support arm 702 and the first screw rod 707. The distance that the mechanical support arm 7 should extend is obtained according to the distance measured by the sound wave and the distance between the self-propelled measuring device and the well wall, and then the distance that the nut 708 should move on the first screw rod 707 is obtained, so that After the first support arm 701 and the second support arm 702 are extended, the support block 710 can reach the well wall position. In actual operation, the controller can determine whether the corresponding mechanical support arm 7 has reached the well wall based on the current change fed back by each first motor 706. If it has reached the well wall, the corresponding first motor 706 is controlled to stop. If it has not reached the well wall, the first support arm 701 and the second support arm 702 are controlled to continue to extend until they reach the maximum position, the first support arm 701 and the second support arm 702 are perpendicular or nearly perpendicular to the outer surface of the shell 1, and the first motor 706 is controlled to stop. At this time, the folding blade 711 on the mechanical support arm 7 has been exposed to the fluid in the well and rotates with the flow of the fluid. The controller can convert the received rotation speed of the folding blade 711 into the flow rate of the fluid for analysis and storage in the memory. When the measurement is completed, the mechanical support arm 7 is retracted into the interior of the accommodating groove 107.

[0138] After data collection is completed at one test point, if there is another position to be tested, the self-propelled measuring device is controlled to continue moving forward for testing until the test is completed and then returns; if it is determined that the test is completed and no other position tests are required, the propeller 2 is controlled to reverse and the self-propelled measuring device moves backward. Due to shape limitations, the self-propelled measuring device may not be able to pass through the narrow positions in the wellbore as smoothly as when moving forward when retreating, so it needs to slow down.

[0139] Example 8: Drag reduction method of self-propelled measurement device

[0140] Since the underwater resistance is higher than the air resistance (the underwater resistance can be 800 times that of the air resistance), and since the self-propelled measuring device in this application needs to be carried out in a narrower wellbore, the viscous resistance of the well liquid (such as oil-water mixture) must also be considered. Compared with the operation in water, the resistance to travel in the well liquid is greater, and therefore, the power consumption required to travel in the well liquid is also greater. Taking the above reasons into consideration, in order to reduce the viscous resistance encountered by the self-propelled measuring device of this application when traveling in the well liquid in the horizontal well section, the shell 1 adopts A high-strength aluminum-based alloy is smelted from graphene raw materials, and a drag-reducing layer containing nanographene raw materials is coated on the outer surface of the shell 1. According to experiments, graphene will generate a "skeleton-like" carbon-containing phase in the alloy. This coarse carbon-containing phase has strong toughness and will not completely break during the rolling process. Therefore, the aluminum-based alloy with the addition of graphene can significantly improve the mechanical properties and electrical conductivity of the aluminum-based alloy. Under the same process conditions, the tensile strength is increased from 95.7MPa to 116.3MPa, and the electrical conductivity is 34.7% IACS.

[0141] In an electrolyte containing graphene, the surface of aluminum alloy was oxidized to prepare a micro-arc oxidation film. The addition of graphene increased the thickness of the dense layer from 0.6 μm without graphene to 1.6 μm, which is a significant increase. The low and medium frequency impedance value increased from 5×105Ω·cm 2 Increased to 106μmΩ·cm 2 , the resistance of the loose layer is 1.57×105Ω·cm 2 Increased to 1.98×105Ω·cm 2 , the dense layer resistance is 3.07×105Ω·cm 2 Increased to 1.24×106Ω·cm 2 The self-corrosion potential of the film layer increased from -0.53V to -0.41V, and the self-corrosion current density increased from 3.15×10 -7 A / cm 2 Reduced to 3.97×10 -8 A / cm 2 The film layer's mass wear is significantly reduced, the friction coefficient is lowered, and wear resistance is enhanced. Therefore, using materials containing nanographene to manufacture the housing 1 of this application and coating the housing 1 with a drag-reducing layer containing nanographene can significantly reduce the viscous resistance experienced by the housing 1 from oil, water, and mud while traveling within the well, ensuring that the self-propelled measurement device of this application can operate normally in downhole fluids.

[0142] Example 9: Power supply selection method for self-propelled measurement device

[0143] In order to solve the endurance problem, this application uses a cable (cable) 16 for direct power supply. Multiple self-propelled measuring devices can be connected in series using the cable 16 to achieve the purpose of long-term continuous monitoring of production dynamic parameters underground, and timely transmit data to the ground, which can be comprehensively analyzed, the working conditions can be judged in real time, and effective measures can be taken in time to achieve the purpose of reducing costs and increasing efficiency. A transformer element is installed in the shell 1 to increase or decrease the voltage, and a capacitor element is added to ensure the stability of the power supply. It can travel long distances underground, and the thrust will not weaken as the battery is reduced. A rechargeable energy storage device is also provided. Sometimes, it can also use its own power supply to continue to perform tasks and return home without being affected by power consumption.

[0144] Multiple self-propelled measuring devices with the same structure can be connected in series through cables 16 in a tail-in-head-out manner, and then the multiple self-propelled measuring devices after being connected in series are lowered into the horizontal well section in the well in turn. The propellers 2 and water pumps arranged on each shell 1 provide propulsion for the movement of the self-propelled measuring device, thereby providing sufficient propulsion for the movement of the self-propelled measuring device, avoiding the entanglement or disconnection of the cable 16 connecting the two adjacent self-propelled measuring devices due to insufficient propulsion; since water pumps are respectively provided at the front and rear of the self-propelled measuring device, two water pumps with different spraying directions can be set to facilitate the forward and backward movement of the self-propelled measuring device, so that there is basically no need for the cable 16 to bear the tension, which greatly reduces the chance of the cable 16 being broken.

[0145] Example 10: Power and Cable Selection for Self-Propelled Measurement Device

[0146] In order to reduce the load of the self-propelled measurement device on the cable 16, the cable 16 used is a lightweight cable as a serial cable. The required power is calculated as follows:

[0147] According to the voltage drop formula △U=IR and the power consumed by the self-propelled measuring device, it can be concluded that the voltage supply is completely sufficient for ordinary well depths generally within 10,000 meters. Moreover, according to the length of the well body, the navigation can be extended and the self-propelled measuring device can be charged within the voltage drop range. A voltage detection device can also be installed in a self-propelled measuring device at the end of the series-connected self-propelled measuring devices to detect if the voltage or power of the self-propelled measuring device at the end is insufficient due to voltage drop. Therefore, the power supply voltage of the logging tram can be increased on the ground to meet the demand for sufficient power supply.

[0148] The power required by the self-propelled measuring device is related to the electronic components it contains. The self-propelled measuring device contains low-power electronic components, which are only related to the power consumed during navigation. The main power consumption is the thrust of the propeller (propeller 2 or water jet pump);

[0149] The thrust of the self-propelled measurement device is: thrust = propeller power × propeller efficiency;

[0150] The resistance of the self-propelled measuring device at a constant speed is: F = 1 / 2*C*ρ*v^2*s;

[0151] Where F is the resistance, ρ is the density, v is the velocity, s is the vertical cross-sectional area, and C is the resistance coefficient;

[0152] The maximum weight of the cable 16 that the self-propelled measuring device can carry = the thrust of the self-propelled measuring device - the resistance of the self-propelled measuring device - the weight of the cable (in the vertical well section, the load of the self-propelled measuring device does not need to be considered, and only the load of the self-propelled measuring device in the horizontal well section is considered. The total length of the horizontal section divided by the cable length required for the maximum weight of the cable 16 that the self-propelled measuring device can carry is the minimum number of self-propelled measuring devices required for the entire well section). The number of self-propelled measuring devices can be appropriately increased according to actual needs and measuring points to meet production requirements; and according to the measuring point, each can be adjusted and moved individually within the range of the interval cable 16 until the target measuring point is reached.

[0153] Example 11: Serial connection of multiple self-propelled measurement devices

[0154] As a method of downhole testing, when the horizontal well section is too long and multiple self-propelled measuring devices need to be combined for downhole testing, the method adopted is: a self-propelled measuring device provided with a first water jet pump 13 and a second water jet pump 14 is used, and the various parts of the self-propelled measuring device are assembled on the ground, the sealing connection parts and the cable connection parts are inspected, the battery storage capacity and the propulsion device are measured to ensure that they are correct, and the wireless communication transmitter 10, the test instrument and the controller are tested for wireless connectivity; after passing the test, the first self-propelled measuring device is first connected to the rear part (i.e., the tail) of the self-propelled measuring device by a cable in an automatic unhooking manner, and the front part (i.e., the head) of the self-propelled measuring device faces the well and is slowly lowered into the well from the wellhead; after the first self-propelled measuring device is lowered 100-500m, the front part of the second identical self-propelled measuring device is connected to the rear part of the first self-propelled measuring device that has been lowered through the cable 16, so that the first self-propelled measuring device and the second self-propelled measuring device are connected The two self-propelled measuring devices are connected by a cable 16; and similarly, other identical self-propelled measuring devices that need to be lowered into the well are connected until they are completed. The reason for using multiple self-propelled measuring devices for data acquisition in the horizontal well section is that the horizontal well section is very long, and it is convenient to connect multiple self-propelled measuring devices through the cable 16 to meet the need to collect corresponding well data in different well sections. After the data acquisition is completed, the above-mentioned method of recovering a single self-propelled measuring device is adopted to recover the self-propelled measuring devices connected in series underground, and the data interface 11 on each self-propelled measuring device is used to read the underground data collected by each self-propelled measuring device. The method of connecting multiple self-propelled measuring devices in series to collect data in the well can solve the problem of insufficient power of a single self-propelled measuring device when collecting data in a long well section, and cannot complete the data acquisition task of a farther horizontal well section. The specific number of self-propelled measuring devices to be lowered can be set according to the length of the horizontal well section, which is not limited here.

[0155] Example 12: Design relationship between cables, propulsion force, and resistance of a self-propelled measurement device

[0156] Cable Design Example 1: Tethered Cable (Lightweight, using lightweight alloy conductors and an aviation cable design to significantly reduce weight, weighing only 2.3 kg per 100 meters; The cable has a very high voltage resistance and can withstand a high voltage of 2000V; The cable outer diameter is ≤ 4mm, and the cable insulation material uses high-temperature plastic that can withstand long-term repeated bending; The cable has high tensile strength, and the tensile strength is borne by a dedicated ultra-high-strength fiber, with a tensile strength of more than 2000N; The current carrying capacity is large and can pass 14A high-voltage DC; The DC resistance is 2. 2Ω / 100m; the cable contains two power lines and a microbend-resistant optical fiber, providing excellent optical transmission performance. When used with an optoelectronic conversion terminal (such as an RS485 to fiber converter), it enables transparent RS-485 transmission over fiber. Its strong anti-interference capability eliminates challenges such as electromagnetic interference, ground loop interference, and lightning damage, significantly improving the reliability, security, and confidentiality of data communications. The widest diameter of housing 1 is approximately 61mm, and its length is approximately 900mm. Housing 1 is nearly cylindrical and can be lowered into a 3-3 / 8-inch well.

[0157] Cable design embodiment 2: When the voltage of the DC power supply is 400V, there is a 573W load at 10,000 meters, and the resistance is 2.2Ω / 100m. The calculated voltage drop is: wire current = power / voltage = 573 / 400 = 1.4325A, voltage drop = wire resistance × wire length × wire current = 2.2 × (10,000 / 100) × 1.5 = 315.5V. Therefore, the voltage drop is 315.5V, and the voltage of the self-propelled measuring device of this application generally uses 24DV, which is sufficient to convert the wellhead voltage into a DC power supply voltage of 84.5V at the bottom of the well. Therefore, the depth of an ordinary wellhead is generally within 10,000 meters, and the voltage supply of the self-propelled measuring device of this application is completely sufficient.

[0158] Thrust design example 1: The total power selected to propel the self-propelled measurement device of this application is 573W, and the efficiency is 0.89. The propulsion force of the self-propelled measurement device is calculated: propulsion force = propulsion equipment power × propulsion equipment efficiency; propulsion force = 573 × 0.89 = 510N.

[0159] Resistance calculation example 1: Calculate the resistance of the self-propelled measuring device of the present application at a constant speed: F = 1 / 2*C*ρ*v^2*s; wherein F is the resistance encountered by the self-propelled measuring device, ρ is the density of the liquid in the well, v is the flow velocity of the liquid in the well, s is the vertical cross-sectional area, C is the resistance coefficient, the resistance coefficient can be taken as 0.8, the speed can be taken as 1m / s, and the liquid in the well is an oil-water mixture. Therefore, the density of the liquid in the well will fluctuate. Generally, at 60 degrees Celsius, the average density of the liquid in the well is 1.1337g / ml. The widest part of the diameter of the self-propelled measuring device of the present application is about 61mm, and the length is 900mm, which is nearly cylindrical. It can be calculated that: resistance F = 1 / 2*0.8*1.1337*1^2*0.61^2*3.14=0.604N.

[0160] Resistance Calculation Example 2: The maximum cable weight that each self-propelled measurement device in this application can carry is calculated as follows: the device's thrust - the device's resistance - the cable's weight, ignoring the cable's buoyancy in water. The calculation yields: 510 - 0.604 = 509 N, meaning the device's thrust is approximately 50 kg. Subtracting the device's own weight of 15 kg, the device can carry a maximum of 35 kg. This translates to a cable length of 1520 meters. According to the above design calculation scheme, in a horizontal well with a designed vertical section of 2800 meters and a horizontal section of 3100 meters, the self-propelled measurement device is designed to travel up to 3000 meters in the horizontal section to collect data. This requires connecting a self-propelled measurement device in series every 1520 meters. For a 3000-meter horizontal section, two self-propelled measurement devices are required to simultaneously collect dynamic data within the wellbore. Each self-propelled measurement device can be independently adjusted and moved within a certain interval, depending on the measurement point (i.e., a preset position within the well), until it reaches the target measurement point.

[0161] The above description is only an illustrative embodiment of the present application and is not intended to limit the scope of the present application. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present application shall fall within the scope of protection of the present application.

Claims

1. An autonomous navigation measurement device for downhole data of oil wells, characterized in that, The self-propelled measuring device for downhole data of oil wells includes: A housing, on which a propeller is provided, and the propeller is used to drive the self-propelled measuring device to move forward or backward in the well; A testing device, which is arranged on the housing, and the testing device is used to collect downhole data and position the self-propelled measuring device in the well; A floating and sinking control device, which is arranged on the housing or is a part of the housing, and the floating and sinking control device is used to adjust the floating and sinking height of the self-propelled measuring device in the well; A hovering device, which is arranged on the housing, and at least part of the hovering device can be supported on the well wall, and the hovering device is used to hover the self-propelled measuring device at a preset position in the well; and A power supply device, which is arranged on the housing, and the power supply device is used to supply power to the testing device, the floating and sinking control device and the hovering device; Wherein, the housing is in a spindle shape, and a drag reduction layer is arranged on the outer surface of the housing, and the drag reduction layer is used to reduce the viscous resistance of the downhole liquid to the housing.

2. The self-propelled measuring device for downhole data of oil wells according to claim 1, wherein, The housing is made of an aluminum-based alloy, and / or, the drag reduction layer is made of nano-graphene.

3. The self-navigating measurement device for downhole data of an oil well according to claim 1, characterized in that A plurality of accommodating grooves are arranged on the outer wall of the housing in the circumferential direction thereof; The hovering device includes a plurality of mechanical support arms, and the plurality of mechanical support arms are arranged in the corresponding accommodating grooves. When the mechanical support arms are in a flattened state, the mechanical support arms are located inside the accommodating grooves; when the mechanical support arms are in a supporting state, at least part of the mechanical support arms extends from the opening of the accommodating grooves to the outside thereof.

4. The self-navigating measurement device for downhole data of an oil well according to claim 3, characterized in that, The mechanical support arm includes a first support arm, a second support arm, a mounting seat and a support block. The mounting seat is fixed on the outer wall of the housing. The first end of the first support arm is hinged to the mounting seat through a first rotating shaft. The second end of the first support arm is hinged to the first end of the second support arm through a second rotating shaft. The second end of the second support arm is movably arranged on the outer wall of the housing. The support block is arranged at the hinged position of the first support arm and the second support arm; And When the mechanical support arms are in a flattened state, the second end of the second support arm moves away from the first support arm until the first support arm and the second support arm are both attached to the outer wall of the housing; when the mechanical support arms are in a supporting state, the second end of the second support arm moves towards the first support arm until the support block abuts against the well wall.

5. The self-navigating measuring device for downhole data of oil wells according to claim 4, characterized in that, The mechanical support arm further includes a first motor, a first lead screw and a nut. The first motor is arranged on the mounting seat. The first lead screw extends along the moving direction of the second end of the second support arm. One end of the first lead screw is connected to the output shaft of the first motor. The nut 708 is connected to the second end of the second support arm and the nut is screwed on the first lead screw; and A slide rail is arranged on the outer wall of the housing, and at least part of the nut can be slidably connected to the slide rail.

6. The self-propelled measuring device for downhole data of oil wells according to claim 3, characterized in that, The mechanical support arm is provided with folding blades; when the mechanical support arm is in a flattened state, the folding blades are located within the accommodation groove; when the mechanical support arm is in a supporting state, the folding blades are located outside the accommodation groove and rotate with the flow of the well fluid. And The mechanical support arms and the folding blades are in one-to-one correspondence, and both the mechanical support arms and the folding blades are greater than or equal to 3 in number.

7. The self-navigating measuring device for downhole data of oil wells according to claim 1, characterized in that, The interior of the housing has a first chamber, and the first chamber is located at the front of the self-propelled survey vessel. The self-propelled survey device for downhole data of oil wells further includes a controller; and The testing device includes a gyroscope, a three-axis acceleration sensor, a pressure sensor, an oil-gas-water mixing ratio sensor, a temperature sensor, and an acoustic rangefinder. The controller, the gyroscope, the three-axis acceleration sensor, the pressure sensor, the oil-gas-water mixing ratio sensor, and the temperature sensor are all located within the first chamber, and the acoustic rangefinder is disposed on the outer wall of the first chamber. The gyroscope, the three-axis acceleration sensor, the pressure sensor, the oil-gas-water mixing ratio sensor, the temperature sensor, and the acoustic rangefinder are respectively electrically connected to the controller.

8. The self-propelled measuring device for downhole data of oil wells according to claim 7, characterized in that, The testing device further includes an image acquisition device. The image acquisition device is disposed at the front of the outer wall of the first chamber and is electrically connected to the controller. The image acquisition device is used to acquire images within the well.

9. The self-navigating measuring device for downhole data of oil wells according to claim 7, characterized in that, The testing device further includes a magnetic locator. The magnetic locator is disposed at the front within the first chamber and is electrically connected to the controller. The magnetic locator is used to detect the positions of each tubing collar along the movement path of the self-propelled survey device to obtain the actual movement trajectory of the self-propelled survey device.

10. The self-navigating measuring device for downhole data of oil wells according to claim 9, characterized in that, A data interface is provided on the housing. The data interface is electrically connected to the controller. The movement trajectory of the self-propelled survey device within the well is pre-stored into the controller through the data interface for comparison with the actual movement trajectory of the self-propelled survey device detected by the magnetic locator.

11. The self-navigating measurement device for downhole data of an oil well according to claim 7, characterized in that, A wireless communication transmitter is provided on the housing. The wireless communication transmitter is used for communication connection with a wireless receiving device on the ground.

12. The self-navigating measurement device for downhole data of an oil well according to claim 1, characterized in that, The sinking and floating control device includes a second chamber, a gas compression chamber, and a sinking and floating control chamber that are sequentially arranged and isolated. The second chamber, the gas compression chamber, and the sinking and floating control chamber are all located within the housing. The gas compression chamber and the sinking and floating control chamber are separated by a movable piston, and the piston is connected to a driving device to drive the piston to move between the gas compression chamber and the sinking and floating control chamber. A compression part is provided within the gas compression chamber. The compression part contains compressed gas, and an internal communication valve member is provided on the compression part to control the entry of the compressed gas within the compression part into the gas compression chamber. An external communication valve member is provided on the chamber wall of the sinking and floating control chamber to control the connection and disconnection between the sinking and floating control chamber and the outside. And By moving the piston, the volumes of the gas compression chamber and the sinking and floating control chamber are changed. By opening the external valve member, the amount of liquid entering the sinking and floating control chamber is changed, so as to adjust the sinking and floating height of the self-propelled measuring device in the well.

13. The self-navigating measuring device for downhole data of oil wells according to claim 12, wherein, The driving device includes a second motor and a second lead screw. The second motor is arranged in the second chamber. One end of the second lead screw is located in the second chamber and is connected to the output shaft of the second motor. The other end of the second lead screw hermetically passes through the partition between the second chamber and the gas compression chamber and is hermetically screwed to the piston. The inner wall of the housing circumferentially limits the piston, so that when the second lead screw rotates, the piston can move along the axial direction of the second lead screw.

14. The self-navigating measurement device for downhole data of an oil well according to claim 7, characterized in that, A power supply chamber and a propulsion chamber are arranged in the housing. The power supply chamber and the propulsion chamber are located at the rear of the housing. A battery and a driver are arranged in the power supply chamber. A third motor for driving the propeller to rotate is arranged in the propulsion chamber. The output shaft of the third motor is connected to the rotating shaft of the propeller. The control signal output end of the controller is electrically connected to the control signal receiving end of the driver. The control signal output end of the driver is electrically connected to the control end of the third motor. The power supply end of the driver and the power supply end of the controller are respectively electrically connected to the battery.

15. The self-propelled survey device for downhole data of oil wells according to claim 14, characterized in that, A charging interface is arranged on the housing. The charging interface is electrically connected to the battery.

16. The self-navigating measuring device for downhole data of oil wells according to claim 1, characterized in that, The self-propelled measuring device for downhole data of oil wells further includes a first water jet pump and a second water jet pump with opposite jet directions. The first water jet pump and the second water jet pump are respectively arranged on the outer walls of the front part and the rear part of the housing. And / or, a first pump jet port and a second pump jet port are respectively arranged on the front part and the rear part of the housing, and the first water jet pump and the second water jet pump are respectively located in the first pump jet port and the second pump jet port.

17. The self-propelled measuring device for downhole data of oil wells according to claim 6, characterized in that, Connectors are respectively arranged on the outer walls of the front part and the rear part of the housing. A plurality of the housings 1 can be connected to the corresponding connectors through cables, so that a plurality of the housings are connected in series.

18. A self-propelled measurement method, wherein the self-propelled measurement method uses the self-propelled measurement device for downhole data of oil wells described in any one of claims 1 to 17 above, and is characterized in that, The method includes the following steps: Step S1: Lower the self-propelled measuring device from the wellhead into the well. Step S2: After the self-propelled measuring device descends into the well liquid, release the self-propelled measuring device, and the self-propelled measuring device continues to sink to the bottom of the vertical well section by its own gravity in the well liquid. Step S3: Start the propulsion mechanism of the self-propelled measuring device, so that the self-propelled measuring device travels in the inclined well section or the horizontal well section until the self-propelled measuring device travels to a preset position in the well. Step S4: Collect well data through the testing device on the self-propelled measuring device. Step S5: The control device determines whether the test is completed according to the preset detection information. Step S6: If the test is not completed, repeat the above steps S3 to S5 until the test is completed. If the test is completed, control the propulsion mechanism to provide a reverse propulsion force, so that the self-propelled measuring device returns to the bottom of the vertical well section. Step S7: Control the self-propelled measuring device to float to the liquid surface. And Step S8: Salvage the self-propelled survey device from the wellhead to complete the self-propelled survey work.

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